Patents by Inventor Benjamin Swilling

Benjamin Swilling has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).

  • Publication number: 20200290213
    Abstract: The disclosure provides systems and methods for mitigating slip of a robot appendage. In one aspect, a method for mitigating slip of a robot appendage includes (i) receiving an input from one or more sensors, (ii) determining, based on the received input, an appendage position of the robot appendage, (iii) determining a filter position for the robot appendage, (iv) determining a distance between the appendage position and the filter position, (v) determining, based on the distance, a force to apply to the robot appendage, (vi) causing one or more actuators to apply the force to the robot appendage, (vii) determining whether the distance is greater than a threshold distance, and (viii) responsive to determining that the distance is greater than the threshold distance, the control system adjusting the filter position to a position, which is the threshold distance from the appendage position, for use in a next iteration.
    Type: Application
    Filed: June 1, 2020
    Publication date: September 17, 2020
    Applicant: Boston Dynamics, Inc.
    Inventors: Stephen Berard, Alexander Yu Khripin, Benjamin Swilling
  • Patent number: 10688667
    Abstract: The disclosure provides systems and methods for mitigating slip of a robot appendage. In one aspect, a method for mitigating slip of a robot appendage includes (i) receiving an input from one or more sensors, (ii) determining, based on the received input, an appendage position of the robot appendage, (iii) determining a filter position for the robot appendage, (iv) determining a distance between the appendage position and the filter position, (v) determining, based on the distance, a force to apply to the robot appendage, (vi) causing one or more actuators to apply the force to the robot appendage, (vii) determining whether the distance is greater than a threshold distance, and (viii) responsive to determining that the distance is greater than the threshold distance, the control system adjusting the filter position to a position, which is the threshold distance from the appendage position, for use in a next iteration.
    Type: Grant
    Filed: February 21, 2018
    Date of Patent: June 23, 2020
    Assignee: Boston Dynamics, Inc.
    Inventors: Stephen Berard, Alex Yu Khripin, Benjamin Swilling
  • Publication number: 20200016750
    Abstract: A method for determining a step path involves obtaining a reference step path for a robot with at least three feet. The reference step path includes a set of spatial points on a surface that define respective target touchdown locations for the at least three feet. The method also involves receiving a state of the robot. The method further involves generating a reference capture point trajectory based on the reference step path. Additionally, the method involves obtaining at least two potential step paths and a corresponding capture point trajectory. Further, the method involves selecting a particular step path of the at least two potential step paths based on a relationship between the at least two potential step paths, the potential capture point trajectory, the reference step path, and the reference capture point trajectory. The method additionally involves instructing the robot to begin stepping in accordance with the particular step path.
    Type: Application
    Filed: September 23, 2019
    Publication date: January 16, 2020
    Applicant: Boston Dynamics, Inc.
    Inventor: Benjamin Swilling
  • Publication number: 20190344845
    Abstract: A legged robot may seek to operate according to a target gait. The legged robot may include leg members and leg joints. Possibly based on the target gait and state of the legged robot, an ordered list of gait controllers may be obtained. The gait controllers in the ordered list may define respective gaits of the legged robot, and may include respective validity checks and output parameters for the respective gaits. The ordered list may begin with a target gait controller that defines the target gait. The ordered list may be traversed in order from the target gait controller until a validity check associated with a particular gait controller passes. The legged robot may be instructed to actuate the leg members and/or leg joints according to output parameters of the particular gait controller.
    Type: Application
    Filed: July 24, 2019
    Publication date: November 14, 2019
    Applicant: Boston Dynamics, Inc.
    Inventors: Benjamin Swilling, Eric Whitman, Stephen Berard, Alfred Anthony Rizzi, Alex Yu Khripin, Gina Christine Fay
  • Patent number: 10456916
    Abstract: A method for determining a step path involves obtaining a reference step path for a robot with at least three feet. The reference step path includes a set of spatial points on a surface that define respective target touchdown locations for the at least three feet. The method also involves receiving a state of the robot. The method further involves generating a reference capture point trajectory based on the reference step path. Additionally, the method involves obtaining at least two potential step paths and a corresponding capture point trajectory. Further, the method involves selecting a particular step path of the at least two potential step paths based on a relationship between the at least two potential step paths, the potential capture point trajectory, the reference step path, and the reference capture point trajectory. The method additionally involves instructing the robot to begin stepping in accordance with the particular step path.
    Type: Grant
    Filed: February 15, 2019
    Date of Patent: October 29, 2019
    Assignee: Boston Dynamics, Inc.
    Inventor: Benjamin Swilling
  • Patent number: 10399621
    Abstract: A legged robot may seek to operate according to a target gait. The legged robot may include leg members and leg joints. Possibly based on the target gait and state of the legged robot, an ordered list of gait controllers may be obtained. The gait controllers in the ordered list may define respective gaits of the legged robot, and may include respective validity checks and output parameters for the respective gaits. The ordered list may begin with a target gait controller that defines the target gait. The ordered list may be traversed in order from the target gait controller until a validity check associated with a particular gait controller passes. The legged robot may be instructed to actuate the leg members and/or leg joints according to output parameters of the particular gait controller.
    Type: Grant
    Filed: March 18, 2019
    Date of Patent: September 3, 2019
    Assignee: Boston Dynamics, Inc.
    Inventors: Benjamin Swilling, Eric Whitman, Stephen Berard, Alfred Anthony Rizzi, Alex Yu Khripin, Gina Christine Fay
  • Publication number: 20190210673
    Abstract: A legged robot may seek to operate according to a target gait. The legged robot may include leg members and leg joints. Possibly based on the target gait and state of the legged robot, an ordered list of gait controllers may be obtained. The gait controllers in the ordered list may define respective gaits of the legged robot, and may include respective validity checks and output parameters for the respective gaits. The ordered list may begin with a target gait controller that defines the target gait. The ordered list may be traversed in order from the target gait controller until a validity check associated with a particular gait controller passes. The legged robot may be instructed to actuate the leg members and/or leg joints according to output parameters of the particular gait controller.
    Type: Application
    Filed: March 18, 2019
    Publication date: July 11, 2019
    Applicant: Boston Dynamics, Inc.
    Inventors: Benjamin Swilling, Eric Whitman, Stephen Berard, Alfred Anthony Rizzi, Alex Yu Khripin, Gina Christine Fay
  • Publication number: 20190176329
    Abstract: A method for determining a step path involves obtaining a reference step path for a robot with at least three feet. The reference step path includes a set of spatial points on a surface that define respective target touchdown locations for the at least three feet. The method also involves receiving a state of the robot. The method further involves generating a reference capture point trajectory based on the reference step path. Additionally, the method involves obtaining at least two potential step paths and a corresponding capture point trajectory. Further, the method involves selecting a particular step path of the at least two potential step paths based on a relationship between the at least two potential step paths, the potential capture point trajectory, the reference step path, and the reference capture point trajectory. The method additionally involves instructing the robot to begin stepping in accordance with the particular step path.
    Type: Application
    Filed: February 15, 2019
    Publication date: June 13, 2019
    Applicant: Boston Dynamics, Inc.
    Inventor: Benjamin Swilling
  • Patent number: 10266220
    Abstract: A legged robot may seek to operate according to a target gait. The legged robot may include leg members and leg joints. Possibly based on the target gait and state of the legged robot, an ordered list of gait controllers may be obtained. The gait controllers in the ordered list may define respective gaits of the legged robot, and may include respective validity checks and output parameters for the respective gaits. The ordered list may begin with a target gait controller that defines the target gait. The ordered list may be traversed in order from the target gait controller until a validity check associated with a particular gait controller passes. The legged robot may be instructed to actuate the leg members and/or leg joints according to output parameters of the particular gait controller.
    Type: Grant
    Filed: October 22, 2018
    Date of Patent: April 23, 2019
    Assignee: Boston Dynamics, Inc.
    Inventors: Benjamin Swilling, Eric Whitman, Stephen Berard, Alfred Anthony Rizzi, Alex Yu Khripin, Gina Christine Fay
  • Patent number: 10239208
    Abstract: A method for determining a step path involves obtaining a reference step path for a robot with at least three feet. The reference step path includes a set of spatial points on a surface that define respective target touchdown locations for the at least three feet. The method also involves receiving a state of the robot. The method further involves generating a reference capture point trajectory based on the reference step path. Additionally, the method involves obtaining at least two potential step paths and a corresponding capture point trajectory. Further, the method involves selecting a particular step path of the at least two potential step paths based on a relationship between the at least two potential step paths, the potential capture point trajectory, the reference step path, and the reference capture point trajectory. The method additionally involves instructing the robot to begin stepping in accordance with the particular step path.
    Type: Grant
    Filed: August 21, 2018
    Date of Patent: March 26, 2019
    Assignee: Boston Dynamics, Inc.
    Inventor: Benjamin Swilling
  • Publication number: 20190054965
    Abstract: A legged robot may seek to operate according to a target gait. The legged robot may include leg members and leg joints. Possibly based on the target gait and state of the legged robot, an ordered list of gait controllers may be obtained. The gait controllers in the ordered list may define respective gaits of the legged robot, and may include respective validity checks and output parameters for the respective gaits. The ordered list may begin with a target gait controller that defines the target gait. The ordered list may be traversed in order from the target gait controller until a validity check associated with a particular gait controller passes. The legged robot may be instructed to actuate the leg members and/or leg joints according to output parameters of the particular gait controller.
    Type: Application
    Filed: October 22, 2018
    Publication date: February 21, 2019
    Applicant: BOSTON DYNAMICS, INC.
    Inventors: Benjamin Swilling, Eric Whitman, Stephen Berard, Alfred Anthony Rizzi, Alex Yu Khripin, Gina Christine Fay
  • Patent number: 10144465
    Abstract: A legged robot may seek to operate according to a target gait. The legged robot may include leg members and leg joints. Possibly based on the target gait and state of the legged robot, an ordered list of gait controllers may be obtained. The gait controllers in the ordered list may define respective gaits of the legged robot, and may include respective validity checks and output parameters for the respective gaits. The ordered list may begin with a target gait controller that defines the target gait. The ordered list may be traversed in order from the target gait controller until a validity check associated with a particular gait controller passes. The legged robot may be instructed to actuate the leg members and/or leg joints according to output parameters of the particular gait controller.
    Type: Grant
    Filed: June 13, 2018
    Date of Patent: December 4, 2018
    Assignee: Boston Dynamics, Inc.
    Inventors: Benjamin Swilling, Eric Whitman, Stephen Berard, Alfred Anthony Rizzi, Alex Yu Khripin, Gina Christine Fay
  • Patent number: 10105845
    Abstract: A robotic system includes a body including at least one attachment mechanism configured to removably couple a modular component to the body. The modular component includes at least one movable part operable to move relative to the body when the modular component is attached to the body. The system includes a communication interface coupled to the body and configured to be communicatively coupled to the modular component to receive information relating to the modular component and operation of the at least one movable part. The system includes a control system coupled to the body and the communication interface. The control system is configured to: in response to the modular component being attached to the body, receive the information from the modular component by way of the communication interface, and operate the at least one movable part of the modular component according to the information.
    Type: Grant
    Filed: February 5, 2016
    Date of Patent: October 23, 2018
    Assignee: Boston Dynamics, Inc.
    Inventors: Zachary John Jackowski, John Aaron Saunders, Benjamin Swilling
  • Patent number: 10081104
    Abstract: A method for determining a step path involves obtaining a reference step path for a robot with at least three feet. The reference step path includes a set of spatial points on a surface that define respective target touchdown locations for the at least three feet. The method also involves receiving a state of the robot. The method further involves generating a reference capture point trajectory based on the reference step path. Additionally, the method involves obtaining at least two potential step paths and a corresponding capture point trajectory. Further, the method involves selecting a particular step path of the at least two potential step paths based on a relationship between the at least two potential step paths, the potential capture point trajectory, the reference step path, and the reference capture point trajectory. The method additionally involves instructing the robot to begin stepping in accordance with the particular step path.
    Type: Grant
    Filed: January 23, 2017
    Date of Patent: September 25, 2018
    Assignee: Boston Dynamics, Inc.
    Inventor: Benjamin Swilling
  • Patent number: 10017218
    Abstract: A legged robot may seek to operate according to a target gait. The legged robot may include leg members and leg joints. Possibly based on the target gait and state of the legged robot, an ordered list of gait controllers may be obtained. The gait controllers in the ordered list may define respective gaits of the legged robot, and may include respective validity checks and output parameters for the respective gaits. The ordered list may begin with a target gait controller that defines the target gait. The ordered list may be traversed in order from the target gait controller until a validity check associated with a particular gait controller passes. The legged robot may be instructed to actuate the leg members and/or leg joints according to output parameters of the particular gait controller.
    Type: Grant
    Filed: June 27, 2016
    Date of Patent: July 10, 2018
    Assignee: Boston Dynamics, Inc.
    Inventors: Benjamin Swilling, Eric Whitman, Stephen Berard, Alfred Anthony Rizzi, Alex Yu Khripin, Gina Christine Fay
  • Patent number: 9987745
    Abstract: The present disclosure relates to methods and systems for robust robotic task execution. An example method includes obtaining a task-level goal for a robot associated with one or more sub-goals, where accomplishment of the one or more sub-goals accomplishes the task-level goal. Carrying out an operation in pursuance of a given sub-goal may involve controlling at least one actuator of the robot. The method also includes determining one or more parameters indicative of a state of a system that includes the robot and an environment proximate to the robot. The method further includes selecting a particular sub-goal based on at least one of the one or more parameters. Additionally, the method includes selecting at least one controller based on at least one of the one or more parameters and the selected sub-goal. Further, the method includes causing the robot to operate in accordance with the at least one selected controller.
    Type: Grant
    Filed: April 1, 2016
    Date of Patent: June 5, 2018
    Assignee: Boston Dynamics, Inc.
    Inventors: Stephen Berard, Benjamin Swilling, Matthew Malchano
  • Patent number: 9969082
    Abstract: The present disclosure relates to methods and systems for improving robotic task selection and execution. An example method includes determining an external environment state based on receiving information indicative of at least one aspect of an environment proximate to a robotic system having at least one actuator. The method also includes optionally determining a goal to be accomplished by a robotic system and determining a plurality of possible tasks each including at least one task involving the at least one actuator that may be carried out by the robotic system in pursuance of the goal. For each possible task group, the method includes determining a respective task group score based on an expected performance capability. The expected performance capability is based, at least in part, on the external environment state. The method includes selecting a task group based on the respective task group scores.
    Type: Grant
    Filed: January 5, 2016
    Date of Patent: May 15, 2018
    Assignee: Boston Dynamics, Inc.
    Inventors: Stephen Berard, Benjamin Swilling, Matthew Malchano
  • Patent number: 9925667
    Abstract: The disclosure provides systems and methods for mitigating slip of a robot appendage. In one aspect, a method for mitigating slip of a robot appendage includes (i) receiving an input from one or more sensors, (ii) determining, based on the received input, an appendage position of the robot appendage, (iii) determining a filter position for the robot appendage, (iv) determining a distance between the appendage position and the filter position, (v) determining, based on the distance, a force to apply to the robot appendage, (vi) causing one or more actuators to apply the force to the robot appendage, (vii) determining whether the distance is greater than a threshold distance, and (viii) responsive to determining that the distance is greater than the threshold distance, the control system adjusting the filter position to a position, which is the threshold distance from the appendage position, for use in a next iteration.
    Type: Grant
    Filed: January 25, 2016
    Date of Patent: March 27, 2018
    Assignee: Boston Dynamics, Inc.
    Inventors: Stephen Berard, Alex Yu Khripin, Benjamin Swilling
  • Patent number: 9586316
    Abstract: A method for determining a step path involves obtaining a reference step path for a robot with at least three feet. The reference step path includes a set of spatial points on a surface that define respective target touchdown locations for the at least three feet. The method also involves receiving a state of the robot. The method further involves generating a reference capture point trajectory based on the reference step path. Additionally, the method involves obtaining at least two potential step paths and a corresponding capture point trajectory. Further, the method involves selecting a particular step path of the at least two potential step paths based on a relationship between the at least two potential step paths, the potential capture point trajectory, the reference step path, and the reference capture point trajectory. The method additionally involves instructing the robot to begin stepping in accordance with the particular step path.
    Type: Grant
    Filed: September 15, 2015
    Date of Patent: March 7, 2017
    Assignee: Google Inc.
    Inventor: Benjamin Swilling